OpenRaiser/Intern-Atlas huggingface dataset:
Model-Free Active Input-Output Feedback Linearization of a Single-Link Flexible Joint Manipulator: An Improved ADRC Approach
Venue: arXiv cs.SY 2019
Year: 2019

Traditional Input-Output Feedback Linearization (IOFL) requires full knowledge of system dynamics and assumes no disturbance at the input channel and no system's uncertainties. In this paper, a model-free Active Input-Output Feedback Linearization (AIOFL) technique based on an Improved Active Disturbance Rejection Control (IADRC) paradigm is proposed to design feedback linearization control law for a generalized nonlinear system with known relative degree. The Linearization Control Law(LCL) is composed of a scaled generalized disturbance estimated by an Improved Nonlinear Extended State Observer (INLESO) with saturation-like behavior and the nominal control law produced by an Improved Nonlinear State Error Feedback (INLSEF). The proposed AIOFL cancels in real-time fashion the generalized disturbances which represent all the unwanted dynamics, exogenous disturbances, and system uncertainties and transforms the system into a chain of integrators up to the relative degree of the system, the only information required about the nonlinear system. Stability analysis has been conducted based on Lyapunov functions and revealed the convergence of the INLESO and the asymptotic stability of the closed-loop system. Verification of the outcomes has been achieved by applying the proposed AIOFL technique on the Flexible Joint Single Link Manipulator (SLFJM). The simulations results validated the effectiveness of the proposed AIOFL tool based on IADRC as compared to the conventional ADRC based AIOFL and the traditional IOFL techniques.
Explicit shading strategies for repeated truthful auctions
Venue: arXiv cs.GT 2019
Year: 2019

With the increasing use of auctions in online advertising, there has been a large effort to study seller revenue maximization, following Myerson's seminal work, both theoretically and practically. We take the point of view of the buyer in classical auctions and ask the question of whether she has an incentive to shade her bid even in auctions that are reputed to be truthful, when aware of the revenue optimization mechanism. We show that in auctions such as the Myerson auction or a VCG with reserve price set as the monopoly price, the buyer who is aware of this information has indeed an incentive to shade. Intuitively, by selecting the revenue maximizing auction, the seller introduces a dependency on the buyers' distributions in the choice of the auction. We study in depth the case of the Myerson auction and show that a symmetric equilibrium exists in which buyers shade non-linearly what would be their first price bid. They then end up with an expected payoff that is equal to what they would get in a first price auction with no reserve price. We conclude that a return to simple first price auctions with no reserve price or at least non-dynamic anonymous ones is desirable from the point of view of both buyers, sellers and increasing transparency.
An Overview of 3GPP Release-15 Study on Enhanced LTE Support for Connected Drones
Venue: arXiv cs.NI 2019
Year: 2019

Cellular connectivity to low altitude unmanned aerial vehicles (UAVs) has received significant interest recently which has led to a 3GPP study on enhanced LTE support for connected UAVs in Release 15. The objective of the study is to investigate the capability of long-term evolution (LTE) networks for providing connectivity to UAVs. In this article, we provide an overview of the key findings of the 3GPP Release-15 study-item phase. We first introduce UAV connectivity requirements and performance evaluation scenarios defined in the study. We then discuss radio channel models and the key identified challenges of using LTE networks to provide connectivity to UAVs. We summarize potential solutions to address the challenges including interference detection and mitigation techniques, mobility enhancements, and UAV identification. Finally, we also shed light on the key features standardized during the Release-15 work-item phase.
Glow: Graph Lowering Compiler Techniques for Neural Networks
Venue: arXiv cs.PL 2019
Year: 2019

This paper presents the design of Glow, a machine learning compiler for heterogeneous hardware. It is a pragmatic approach to compilation that enables the generation of highly optimized code for multiple targets. Glow lowers the traditional neural network dataflow graph into a two-phase strongly-typed intermediate representation. The high-level intermediate representation allows the optimizer to perform domain-specific optimizations. The lower-level instruction-based address-only intermediate representation allows the compiler to perform memory-related optimizations, such as instruction scheduling, static memory allocation and copy elimination. At the lowest level, the optimizer performs machine-specific code generation to take advantage of specialized hardware features. Glow features a lowering phase which enables the compiler to support a high number of input operators as well as a large number of hardware targets by eliminating the need to implement all operators on all targets. The lowering phase is designed to reduce the input space and allow new hardware backends to focus on a small number of linear algebra primitives.
A Multi-component CNN-RNN Approach for Dimensional Emotion Recognition in-the-wild
Venue: arXiv cs.CV 2019
Year: 2019

This paper presents our approach to the One-Minute Gradual-Emotion Recognition (OMG-Emotion) Challenge, focusing on dimensional emotion recognition through visual analysis of the provided emotion videos. The approach is based on a Convolutional and Recurrent (CNN-RNN) deep neural architecture we have developed for the relevant large AffWild Emotion Database. We extended and adapted this architecture, by letting a combination of multiple features generated in the CNN component be explored by RNN subnets. Our target has been to obtain best performance on the OMG-Emotion visual validation data set, while learning the respective visual training data set. Extended experimentation has led to best architectures for the estimation of the values of the valence and arousal emotion dimensions over these data sets.
BelMan: Bayesian Bandits on the Belief--Reward Manifold
Venue: arXiv cs.LG 2019
Year: 2019

We propose a generic, Bayesian, information geometric approach to the exploration--exploitation trade-off in multi-armed bandit problems. Our approach, BelMan, uniformly supports pure exploration, exploration--exploitation, and two-phase bandit problems. The knowledge on bandit arms and their reward distributions is summarised by the barycentre of the joint distributions of beliefs and rewards of the arms, the \emph{pseudobelief-reward}, within the beliefs-rewards manifold. BelMan alternates \emph{information projection} and \emph{reverse information projection}, i.e., projection of the pseudobelief-reward onto beliefs-rewards to choose the arm to play, and projection of the resulting beliefs-rewards onto the pseudobelief-reward. It introduces a mechanism that infuses an exploitative bias by means of a \emph{focal distribution}, i.e., a reward distribution that gradually concentrates on higher rewards. Comparative performance evaluation with state-of-the-art algorithms shows that BelMan is not only competitive but can also outperform other approaches in specific setups, for instance involving many arms and continuous rewards.
GAN Based Medical Image Registration
Venue: arXiv cs.CV 2019
Year: 2019

Conventional approaches to image registration consist of time consuming iterative methods. Most current deep learning (DL) based registration methods extract deep features to use in an iterative setting. We propose an end-to-end DL method for registering multimodal images. Our approach uses generative adversarial networks (GANs) that eliminates the need for time consuming iterative methods, and directly generates the registered image with the deformation field. Appropriate constraints in the GAN cost function produce accurately registered images in less than a second. Experiments demonstrate their accuracy for multimodal retinal and cardiac MR image registration.
Multinomial Logit Bandit with Linear Utility Functions
Venue: arXiv cs.LG 2019
Year: 2019

Multinomial logit bandit is a sequential subset selection problem which arises in many applications. In each round, the player selects a $K$-cardinality subset from $N$ candidate items, and receives a reward which is governed by a {\it multinomial logit} (MNL) choice model considering both item utility and substitution property among items. The player's objective is to dynamically learn the parameters of MNL model and maximize cumulative reward over a finite horizon $T$. This problem faces the exploration-exploitation dilemma, and the involved combinatorial nature makes it non-trivial. In recent years, there have developed some algorithms by exploiting specific characteristics of the MNL model, but all of them estimate the parameters of MNL model separately and incur a regret no better than $\tilde{O}\big(\sqrt{NT}\big)$ which is not preferred for large candidate set size $N$. In this paper, we consider the {\it linear utility} MNL choice model whose item utilities are represented as linear functions of $d$-dimension item features, and propose an algorithm, titled {\bf LUMB}, to exploit the underlying structure. It is proven that the proposed algorithm achieves $\tilde{O}\big(dK\sqrt{T}\big)$ regret which is free of candidate set size. Experiments show the superiority of the proposed algorithm.
Towards Accurate and High-Speed Spiking Neuromorphic Systems with Data Quantization-Aware Deep Networks
Venue: arXiv cs.CV 2019
Year: 2019

Deep Neural Networks (DNNs) have gained immense success in cognitive applications and greatly pushed today's artificial intelligence forward. The biggest challenge in executing DNNs is their extremely data-extensive computations. The computing efficiency in speed and energy is constrained when traditional computing platforms are employed in such computational hungry executions. Spiking neuromorphic computing (SNC) has been widely investigated in deep networks implementation own to their high efficiency in computation and communication. However, weights and signals of DNNs are required to be quantized when deploying the DNNs on the SNC, which results in unacceptable accuracy loss. %However, the system accuracy is limited by quantizing data directly in deep networks deployment. Previous works mainly focus on weights discretize while inter-layer signals are mainly neglected. In this work, we propose to represent DNNs with fixed integer inter-layer signals and fixed-point weights while holding good accuracy. We implement the proposed DNNs on the memristor-based SNC system as a deployment example. With 4-bit data representation, our results show that the accuracy loss can be controlled within 0.02% (2.3%) on MNIST (CIFAR-10). Compared with the 8-bit dynamic fixed-point DNNs, our system can achieve more than 9.8x speedup, 89.1% energy saving, and 30% area saving.
Modeling Supervisor Safe Sets for Improving Collaboration in Human-Robot Teams
Venue: arXiv cs.RO 2019
Year: 2019

When a human supervisor collaborates with a team of robots, their attention is divided and cognitive resources are at a premium. We aim to optimize the distribution of these resources and the flow of attention. To this end, we propose the model of an idealized supervisor to describe human behavior. Such a supervisor employs a potentially inaccurate internal model of the the robots' dynamics to judge safety. We represent these safety judgements by constructing a safe set from this internal model using reachability theory. When a robot leaves this safe set, the idealized supervisor will intervene to assist, regardless of whether or not the robot remains objectively safe. False positives, where a human supervisor incorrectly judges a robot to be in danger, needlessly consume supervisor attention. In this work, we propose a method that decreases false positives by learning the supervisor's safe set and using that information to govern robot behavior. We prove that robots behaving according to our approach will reduce the occurrence of false positives for our idealized supervisor model. Furthermore, we empirically validate our approach with a user study that demonstrates a significant ($p = 0.0328$) reduction in false positives for our method compared to a baseline safety controller.
New Bounds on Augmenting Steps of Block-structured Integer Programs
Venue: arXiv cs.DS 2019
Year: 2019

We consider 4-block $n$-fold integer programs, whose constraint matrix consists of $n$ copies of small matrices $A$, $B$, and $D$, and one copy of $C$, in a specific block structure. All existing algorithms along this line of research follows an iterative augmentation framework, which relies on the so-called Graver basis of the constraint matrix that constitutes a set of fundamental augmenting steps. Bounding the $\ell_1$- or $\ell_\infty$-norm of elements of the Graver basis is the key to these algorithms. Hemmecke et al.~[Math. Prog. 2014] showed that 4-block $n$-fold IP has Graver elements of $\ell_\infty$-norm at most $O_{FPT}(n^{2^{s_{D}}})$, leading to an algorithm with a similar runtime; here, $s_{D}$ is the number of rows of matrix $D$ and $ O_{FPT}(1)$ hides a multiplicative factor that is only dependent on the small matrices $A,B,C,D$. We prove that the $\ell_{\infty}$-norm of the Graver elements of 4-block $n$-fold IP is upper bounded by $O_{FPT}(n^{s_{D}})$, improving significantly over the previous bound $O_{FPT} (n^{2^{s_{D}}})$. We also provide a matching lower bound of $Ω(n^{s_{D}})$ which even holds for arbitrary non-zero lattice elements, ruling out augmenting algorithm relying on even more restricted notions of augmentation than the Graver basis. We then consider a special case of 4-block $n$-fold in which $C$ is a zero matrix, called 3-block $n$-fold IP. We show that while even there the $\ell_{\infty}$-norm of its Graver elements is $Ω(n^{s_{D}})$, there exists a different decomposition into lattice elements whose $\ell_{\infty}$-norm is bounded by $ O_{FPT}(1)$, which allows us to provide improved upper bounds on the $\ell_{\infty}$-norm of Graver elements for 3-block $n$-fold IP.
k-Space Deep Learning for Accelerated MRI
Venue: arXiv cs.CV 2019
Year: 2019

The annihilating filter-based low-rank Hankel matrix approach (ALOHA) is one of the state-of-the-art compressed sensing approaches that directly interpolates the missing k-space data using low-rank Hankel matrix completion. The success of ALOHA is due to the concise signal representation in the k-space domain thanks to the duality between structured low-rankness in the k-space domain and the image domain sparsity. Inspired by the recent mathematical discovery that links convolutional neural networks to Hankel matrix decomposition using data-driven framelet basis, here we propose a fully data-driven deep learning algorithm for k-space interpolation. Our network can be also easily applied to non-Cartesian k-space trajectories by simply adding an additional regridding layer. Extensive numerical experiments show that the proposed deep learning method consistently outperforms the existing image-domain deep learning approaches.
Strong Converse using Change of Measure Arguments
Venue: arXiv cs.IT 2019
Year: 2019

The strong converse for a coding theorem shows that the optimal asymptotic rate possible with vanishing error cannot be improved by allowing a fixed error. Building on a method introduced by Gu and Effros for centralized coding problems, we develop a general and simple recipe for proving strong converse that is applicable for distributed problems as well. Heuristically, our proof of strong converse mimics the standard steps for proving a weak converse, except that we apply those steps to a modified distribution obtained by conditioning the original distribution on the event that no error occurs. A key component of our recipe is the replacement of the hard Markov constraints implied by the distributed nature of the problem with a soft information cost using a variational formula introduced by Oohama. We illustrate our method by providing a short proof of the strong converse for the Wyner-Ziv problem and strong converse theorems for interactive function computation, common randomness and secret key agreement, and the wiretap channel; the latter three strong converse problems were open prior to this work.
Strategy-Proof Incentives for Predictions
Venue: arXiv cs.GT 2019
Year: 2019

Our aim is to design mechanisms that motivate all agents to reveal their predictions truthfully and promptly. For myopic agents, proper scoring rules induce truthfulness. However, as has been described in the literature, when agents take into account long-term effects of their actions, deception and reticence may appear. No simple rules exist to distinguish between the truthful and the untruthful situations, and a determination has been done in isolated cases only. This is of relevance to prediction markets, where the market value is a common prediction, and more generally in informal public prediction forums, such as stock-market estimates by analysts. We describe three mechanisms that are strategy-proof with non-myopic considerations, and show that one of them meets all our requirements from a mechanism in almost all prediction settings. We formulate rules to distinguish truthful from untruthful settings, and use them to extensively classify prediction settings with continuous outcomes. We show how our proposed mechanism restores prompt truthfulness where incumbent mechanisms fail, and offer guidelines to implementing it in a prediction market.
Interdisciplinary collaboration in research networks: Empirical analysis of energy-related research in Greece
Venue: arXiv cs.DL 2019
Year: 2019

Technological innovation is intimately related to knowledge creation and recombination. In this work we introduce a combined statistical and network-based approach to study collaboration in scientific authorship. We apply it to characterize recent research efforts in renewable energy technology and its intersections with the domains of nanoscience and nanotechnology with focus on materials, and electrical engineering and computer science in Greece and its broader European and international environment as a case study. Using our methods we attempt to illuminate the processes which underlie knowledge creation and diversification in these research networks: a (positive) relationship between expenditure on research and development and the extent and diversity of team-based research at the intersections of the three domains is established. Our specific findings collectively provide insights into the collaboration structure and evolution of energy-related research activity in Greece, while our methodology can be used for evidence-based design, monitoring, and evaluation of interdisciplinary research programs.
Square-free graphs with no six-vertex induced path
Venue: arXiv cs.DM 2019
Year: 2019

We elucidate the structure of $(P_6,C_4)$-free graphs by showing that every such graph either has a clique cutset, or a universal vertex, or belongs to several special classes of graphs. Using this result, we show that for any $(P_6,C_4)$-free graph $G$, $\lceil\frac{5ω(G)}{4}\rceil$ and $\lceil\frac{Δ(G) + ω(G) +1}{2}\rceil$ are tight upper bounds for the chromatic number of $G$. Moreover, our structural results imply that every ($P_6$,$C_4$)-free graph with no clique cutset has bounded clique-width, and thus the existence of a polynomial-time algorithm that computes the chromatic number (or stability number) of any $(P_6,C_4)$-free graph.
Confidence Scoring Using Whitebox Meta-models with Linear Classifier Probes
Venue: arXiv cs.LG 2019
Year: 2019

We propose a novel confidence scoring mechanism for deep neural networks based on a two-model paradigm involving a base model and a meta-model. The confidence score is learned by the meta-model observing the base model succeeding/failing at its task. As features to the meta-model, we investigate linear classifier probes inserted between the various layers of the base model. Our experiments demonstrate that this approach outperforms various baselines in a filtering task, i.e., task of rejecting samples with low confidence. Experimental results are presented using CIFAR-10 and CIFAR-100 dataset with and without added noise. We discuss the importance of confidence scoring to bridge the gap between experimental and real-world applications.
Remote Source Coding under Gaussian Noise : Dueling Roles of Power and Entropy Power
Venue: arXiv cs.IT 2019
Year: 2019

The distributed remote source coding (so-called CEO) problem is studied in the case where the underlying source, not necessarily Gaussian, has finite differential entropy and the observation noise is Gaussian. The main result is a new lower bound for the sum-rate-distortion function under arbitrary distortion measures. When specialized to the case of mean-squared error, it is shown that the bound exactly mirrors a corresponding upper bound, except that the upper bound has the source power (variance) whereas the lower bound has the source entropy power. Bounds exhibiting this pleasing duality of power and entropy power have been well known for direct and centralized source coding since Shannon's work. While the bounds hold generally, their value is most pronounced when interpreted as a function of the number of agents in the CEO problem.
Exponential Integrators with Parallel-in-Time Rational Approximations for the Shallow-Water Equations on the Rotating Sphere
Venue: arXiv cs.NA 2019
Year: 2019

High-performance computing trends towards many-core systems are expected to continue over the next decade. As a result, parallel-in-time methods, mathematical formulations which exploit additional degrees of parallelism in the time dimension, have gained increasing interest in recent years. In this work we study a massively parallel rational approximation of exponential integrators (REXI). This method replaces a time integration of stiff linear oscillatory and diffusive systems by the sum of the solutions of many decoupled systems, which can be solved in parallel. Previous numerical studies showed that this reformulation allows taking arbitrarily long time steps for the linear oscillatory parts. The present work studies the non-linear shallow-water equations on the rotating sphere, a simplified system of equations used to study properties of space and time discretization methods in the context of atmospheric simulations. After introducing time integrators, we first compare the time step sizes to the errors in the simulation, discussing pros and cons of different formulations of REXI. Here, REXI already shows superior properties compared to explicit and implicit time stepping methods. Additionally, we present wallclock-time-to-error results revealing the sweet spots of REXI obtaining either an over 6x higher accuracy within the same time frame or an about 3x reduced time-to-solution for a similar error threshold. Our results motivate further explorations of REXI for operational weather/climate systems.